ESSE 3610 Lab

Coordinate Transformation

Submitted to:
Prof. Jian Guo Wang
Maninder Gill

Name: Won Mo Jung

E-mail: dnjsah94@my.yorku.ca

York University

Abstract:
The properties of the ellipsoidal geometry and transformations between Cartesian and curvilinear
coordinates are closely related. Therefore, it is able to transform the coordinate from one to the
other. Questions related to the reduction of observations to the ellipsoid and the techniques
involved in computing geodetic positions on the ellipsoid is computed in this lab.
Introduction:
The main purpose of this lab is to become familiar with the properties of the ellipsoidal geometry
and transformations between Cartesian and curvilinear coordinates, and reduction of observations
to the ellipsoid and the techniques involved in computing geodetic positions on the ellipsoid (direct
and inverse problems). Then, become capable of performing the relevant calculation and
applications in practice.

Methodology:
Part I [1], [2]
To prove that the radius of curvature in the prime vertical (N) and for the first eccentricity (e2) of
the ellipsoid of rotation at any point of geodetic latitude are given by:
=

(1 2 2 ())

(1.1)

2 = 2 2 (1.2)
where in a and f are the semi-major axis and the flattening of the ellipsoid, respectively.
The equation of any meridian curve (intersection of a meridian plane with the ellipsoid surface) is
given as the following:
2
2
+
= 1 (1.3)
2
2
The first eccentricity equation is given as:
2 2
=
(1.4)
2
where a is the semi-major axis and b is the semi-minor axis.
2

Figure 1. Ellipsoid of Rotation

In case of a meridian ellipse,

(1.5)

Figure 2. Meridian radius of curvature (M)

From Figure 2, the slope of the tangent to point P is computed by:

tan(90 + ) =

= cot (1.6)

Equating the equation (3) and (4) will result the following:
cot =

2
(1.7)
2

which can be also expressed as:

2
tan 2 (1.8)

From the equation (8), y can be solved:
= (1 2 ) tan (1.9)
From the first eccentricity equation, the semi-minor axis, b, can be separated:
2 = 2 (1 2 ) (1.10)
The equation (9) and (10) can be plugged into equation (3) to solve for x.
2 ( (1 2 ) tan )2
+
= 1 (1.11)
2
2 (1 2 )
Simplifying equation (11):
2 2 (1 2 )2 tan2
+
= 1 (1.12)
2
2 (1 2 )
2 2 (1 2 ) tan2
+
= 1 (1.13)
2
2
2 + 2 (1 2 ) tan2 = 2 (1.14)
2 (1 + (1 2 ) tan2 ) = 2 (1.15)
2

2
2
1 + (1 2 ) ( 2 )

(1.16)

2 2
=
(1.17)
2 + (1 2 ) 2
2

2 2
=
(1.18)
(1 2 ) + (1 2 ) 2
2

2 =

2 2
(1.19)
1 2 + 2 2 2
2 2
=
(1.20)
1 2 2
2

Therefore, x becomes:
=

1 2 2

(1.21)

Figure 3. Prime vertical radius of curvature (N)

As seen from Figure 3, N can be obtained by:

cos =

(1.22)

= cos (1.23)
Finally, plugging in equation (21) into equation (23) will yield:
=

1 2 2

(1.24)

The ellipsoidal flattening is given by:

=

(1.25)

From this equation (25), both semi-major axis, a, and semi-minor axis, b can be solved:
=

1
(1.26)

= (1 ) (1.27)
Plugging in equation (27) into (26) will yield:
=

(1 )
(1.28)
(1 )
=

1
(1.29)

2 = 1 (1.30)
Therefore, a can be assumed to be value of 1 in this case. Then, this can be applied to the first
eccentricity equation (4):
12 2
2
=
(1.31)
12
Furthermore, the equation (27), obtained for semi-minor axis can be plugged into equation (31):
2

2 = 1 ((1 )) (1.32)
Simplifying equation 32, note that a is assumed to be 1 again.
2 = 1 (1 2 + 2 ) (1.33)
2 = 2 2 (1.34)

Part II [1], [2], [4]

a) Given that a terrain station P has the following geodetic coordinates: = 43 32 43.105
N, = 290 08 24.993 E, and h = 260.26 m, the geocentric Cartesian coordinates x, y, z,
of station P can be computed.
The curvilinear geodetic coordinates (, , ) is known as geodetic latitude, longitude, and height.
Here, the geodetic height h, can be also called as the ellipsoidal height, and its the height of a
point above the surface of that reference ellipsoid. The transformation between geodetic
coordinates to geocentric Cartesian coordinates can be done by using the following equation:

( + ) cos cos
( + ) cos sin
(2.1)
2
( (1 ) + ) sin

where N is the prime vertical radius of curvature, given by:

=

(1 2 2 ())

(2.2)

and e2 is the first eccentricity of the ellipsoid given by:

2 =

2 2
(2.3)
2

Since the Clarke 1866 reference ellipsoid was used in this case, the semi-major axis a, and the
semi-minor axis b, was found from online.
In Clarke 1866 reference ellipsoid, = 6,378,206.4 and = 6,356,583.8 . Using these
values, the first eccentricity e, came out to be 0.082271854.
Then, the prime vertical radius of curvature, N, can be computed.
=

6,378,206.4
(1 (0.082271854)2 2 (43.54531))

= 6,388,476.313

(6,388,476.313 + 260.26 ) cos 43.54531 cos 290.1403

(6,388,476.313 + 260.26 ) cos 43.54531 sin 290.1403
(6,388,476.313 (1 0.0822718542 ) + 260.26 ) sin 43.54531

So,

1,594,459.299
4,347,587.073
4,371,589.245

However, since the Clark 1866 reference ellipsoid translation components from the geocentric
have been estimated to be X0 = 25.82 m, Y0 = 168.10 m and Z0= 167.31 m.

(1,594,459.299 25.82 )
(4,347,587.073 + 168.10 )
(4,371,589.245 + 167.31)

1,594,433.479
4,347,418.973
4,371,756.555

Therefore,
=

b) Transformation of geodetic curvilinear coordinates from geocentric Cartesian coordinate

in the WGS84 reference ellipsoid for a satellite having the following geocentric coordinates
at a particular time instant: XS = 4,948,685.566m, YS = 3,249,478.132m, and ZS =
3,418,646.589m is also possible.
The geodetic longitude can be computed by simply using the following equation:
= 1

(2.4)

Therefore, the geodetic longitude is:

= 1

3,249,478.132m
= 33.2903
4,948,685.566m

The distance p from the minor axis is:

= 2 + 2 (2.5)
Plug in the initial values given,
= 4,948,685.5662 + ( 3,249,478.132)2 = 5,920,185.551
However, the distance p can be formulated using the coordinate transformation of x and y:
= ( + ) (2.6)
Also, the coordinate transformation for z was seen from previous question:
= ( (1 2 ) + ) sin (2.7)

Then, equation (2.7) can be rearranged as:

+ 2 sin = ( + ) sin (2.8)
Dividing both sides of equation (2.8) by p equation (2.6) obtained previously:
+ 2 sin
(2.9)

tan =
Simplifying equation (2.9):

sin = cos + 2 sin cos (2 + 2 ) (2.10)

Rearranging equation (2.10):
sin ( 2 3 ) = cos ( + 3 sin ) (2.11)
Therefore, equation (2.11) can be simplified further to:
tan =

+ 3 sin
(2.12)
2 3

Using the equation (2.12), initial estimate of can be iterated, assuming that h = 0:

= tan1 (
) (2.13)
(1 2 )
Then, using the obtained from equation (2.13), N can be computed:
=

(1 2 2 ())

(2.14)

Using the values obtained from equation (2.13) and (2.14), can be computed again.
= tan1

+ 3 sin
(2.15)
2 3

Furthermore, obtained from equation (2.15) can be used to calculate Nk+1, so +1 can be
computed as well. The equation (2.14) and (2.15) is repeated to iterate until converges. In this
case, iteration was stopped when
| +1 | < 1010 (2.16)
It may have been stopped when its less than 10-4, but for higher accuracy, was iterated until the
equation (2.16) was satisfied.

It took 3 iterations to satisfy the condition that the equation (2.16) was satisfied. Matlab code was
used to iterate the solution and at third iteration, | +1 | resulted 7.851497230149107e-13, so
the iteration was stopped then.
Therefore, at iteration k = 1
= 30.160126134085210
= 6,383,536.488173026
at iteration k = 2
= 30.160126034775836
= 6,383,532.802341763
at iteration k = 3
= 30.160126034775050
= 6,383,532.802309533
Then using these obtained values, h can be computed using the following equation:
=

(2.17)
cos

Plugging in the values obtained yields:

=

5,920,185.551
6,383,532.8023 = 463,583.4353
cos 30.1601

Finally, the geodetic curvilinear coordinate is:

= 30.1601
= 33.2903
= 463,583.4353

Part III [1], [2], [3]

a) Calculate the geodetic coordinates (, ) of point Q using Puissants short line equations,

Considering that the geodetic coordinates of a terrain point P referred to the WGS84 geocentric
reference ellipsoid, WGS84 semi-major and semi-minor axis was used:
= 6378137
= 6356752.3142
2 = 0.006694380004260827

Given data at point P:

= 44 55 20.992"
= 65 17 37.192"
= 155.52
Vertical deflection of meridian:
= 2.2"
Vertical deflection of prime vertical:
= 2.1"
Astronomical Azimuth:
= 297 18 59.13"
Zenith distance:
= 80 44 46.83"
Spatial distance between P and Q:
= 25363.823
Given data at point Q:
= 45 01 22"
= 65 32 53"
= 4192.20

Using the given data, radius of curvature was obtained using the following formula:
=

2 cos 2 + 2 sin2

(1 2 )

(3.1)

(3.2)

(1 2 sin2 )2

Using the equation (3.1) and (3.2), the radius of curvature was obtained for both point P and point
Q.

Again, with the given data, azimuth of point P and point Q can be calculated using the following
equation:
= tan ( sin cos ) cot (3.3)
Euler radii of curvature was calculated using following equation:

MN
(3.4)
+ cos 2

sin2

Figure 4. Spatial distance reduction

Then, the spatial distance is reduced to the ellipsoid, using following equations:
=

1 + 2
(3.5)
2

where R1 and R2 are the Euler radii of curvature calculated from equation (3.4).

2 2
= (
) (3.6)

(1 + 1 ) (1 + 2 )
12 = 2 sin1

(3.7)
2

Where l is the range given initially, and is the height difference of point P and point Q.
Using the equation (3.6) and (3.7), the spatial distance can be reduced to the surface of the ellipsoid.

Figure 5. Direct problem using Puissants formula

Finally, Puissants formula was used:
+1

12 cos 12 2 tan sin2 12 cos sin2 (1 + 3 tan )

=(

2
6 2
3 2 sin cos
(1
) (3.8)
2(1 2 2 )

Initial was obtained by using the given data:

12
12 2
12 3
2
=
cos 12
tan sin 12
cos 12 sin2 12 (1 + 3 tan2 ) (3.9)

2 2
6 3
The Puissants formula was iterated until the difference of Phi was less than epsilon:
| +1 | < 1010 (3.10)
It took 4 iterations to achieve the equation (3.10), when the difference was 1.50252866e-11:

Initially,
= 0.078981576686544
at iteration k = 1
= 0.078886510269735
at iteration k = 2
= 0.078886548063912
at iteration k = 3
= 0.078886548048887
at iteration k = 4
= 0.078886548048893

Then, using the last change in phi, the new phi would be:
2 = 1 + (3.11)
Similarly, can be obtained by adding to the initial :
12
12 2
=
sin sec 2 (1
(1 sin2 sec 2 2 )) (3.12)

6 2
2 = 1 + (3.13)
= 0.281083200272466
= 45 0 4.9836"
= 65 0 45.2925"

b) Calculate the reverse geodetic azimuth

Figure 6. Inverse problem using Puissants formula

Using spherical approximation, following equation was obtained:

= ( sin sec

1 + 2
(3.14)
2

)+ (
(sin sec
sin3 sec 3 )) (3.15)
2
12
2
2
= + + 180 (3.16)

Therefore,
= 297.31598 + 0.100074266742534 + 180 = 477.2160
= 477 12 57.6310"

c) Calculate the ellipsoidal distance SPQ.

Iteration was needed to get SPQ.

sin

12 3
12 3
= ( (
)+(
sin
sin3 sec 2 2 )) (3.17)
2
2
sec 2
6
6

Iteration was started from using only first term to get the approximate SPQ.
( (
1 =

))
sec 2

sin

(3.18)

In the second iteration, next term was added.

2 =

12 3
( (sec ) + (
sin ))
2
6 2
sin

(3.19)

In the third iteration, the complete equation (3.17) was used.

3 =

3
3
( (sec ) + ( 12 2 sin 12 2 sin3 sec 2 2 ))
2
6
6
sin
1 = 1,429,156.089857203
2 = 1,441,075.171407954
3 = 1,422,082.019480412

Therefore,
= 1,422,082.019480412

(3.20)

Conclusion:
From this lab, the properties of the ellipsoidal geometry and transformations between Cartesian
and curvilinear coordinates, and reduction of observations to the ellipsoid and the techniques
involved in computing geodetic positions on the ellipsoid (direct and inverse problems) was
learned and computed using the equations obtained. Also, performing the relevant calculation and
applications in practice was familiarized. From part I, the radius of curvature in the prime vertical
and for the first eccentricity of the ellipsoid of rotation at any point of geodetic latitude was proven.
From part 2, the geocentric Cartesian coordinates x, y, z of station P. Then, its geodetic curvilinear
coordinates in the WGS84 reference ellipsoid for a satellite having particular geocentric
coordinates at a particular time instant. From last part, the geodetic coordinates of point Q using
Puissants short line equations. Then, the reverse geodetic azimuth and ellipsoidal distance.

Appendix:

Part II code
clc;
format long;
z = 3418646.589;
% e = 0.08181919092890624;
esq = 0.006694380004260827;
p = 5920185.551;
a = 6378137.0;

phio = atand(z/(p*(1-esq)));
i = 1;
N(i) = a/sqrt(1 - esq*(sind(phio)^2));
phi(i) = atand((z+N(i)*esq*(sind(phio))^3)/(p - N(i)*esq*(cosd(phio))^3));
dif = abs(phi(i) - phio);
while dif > 1e-9
N(i+1) = a/sqrt(1 - esq*(sind(phi(i))^2));
phi(i+1) = atand((z+N(i+1)*esq*(sind(phi(i)))^3)/(p - N(i+1)*esq*(cosd(phi(i)))^3));
dif = abs(phi(i) - phi(i+1));
i = i+1;
end
disp(phi(1:3))

Part III code

% clear all ;
clc;
% WGS84 semi-major and semi-minor axis
a = 6378137;
b = 6356752.3142;
% First Eccentricity Squared
esq = 0.006694380004260827;
% epsilon
eps = 1e-9;

% Rho, the number of seconds of arc in 1 radian

rho = 206265;
% Rho, degrees of arc in 1 radian
rho1= 57.27916667;
% Given data at point P
p_phi = dms2deg([44 55 20.992]);
p_lam = dms2deg([65 17 37.192]);
p_h = 155.52;
% vertical deflection of meridian
zeta_p = dms2deg([0 0 2.2]);
% vertical deflection of prime vertical
eta_p = dms2deg([0 0 2.1]);
% Astronomical Azimuth
Apq = dms2deg([297 18 59.13]);
% Zenith distance
Zpq = dms2deg([80 44 46.83]);
% Spatial distance between P and Q
range = 25363.823;
% Given data at point Q
q_phi = dms2deg([45 01 22]);
q_lam = dms2deg([65 32 53]);
q_h = 4192.20;

% Radius of curvature
Np = (a^2) / sqrt(a^2*cosd(p_phi)^2 + b^2*sind(p_phi)^2);
% Np = a/((1-esq*((sind(p_phi))^2)))^(1/2);
Mp = (a*(1-esq))/((1-esq*((sind(p_phi))^2)))^(3/2);
Nq = (a^2) / sqrt(a^2*cosd(q_phi)^2 + b^2*sind(q_phi)^2);
% Nq = a/((1-esq*((sind(q_phi))^2)))^(1/2);
Mq = (a*(1-esq))/((1-esq*((sind(q_phi))^2)))^(3/2);
% Delta H
H_diff = q_h - p_h;
azimuth_pq = Apq - eta_p*tand(p_phi)-(zeta_p*sind(Apq) - eta_p*cosd(Apq))*cotd(Zpq);
% Euler radius of curvature
R_p = (Mp*Np)/(Mp*(sind(azimuth_pq))^2+Np*(cosd(azimuth_pq))^2);
R_q = (Mq*Nq)/(Mq*(sind(azimuth_pq))^2+Nq*(cosd(azimuth_pq))^2);
% Spatial distance reduction
R = (R_p + R_q)/2;
% Ellipsoidal chord length between point P and point Q
l = sqrt((range^2-H_diff^2)/((1+(p_h/R))*(1+(q_h/R))));
% Ellipsoidal distance
S = 2*R*asind((l)/(2*R));

% Puissant's formula
dphio = (S*cosd(azimuth_pq)/Np)-(((S^2)*tand(p_phi)*((sind(azimuth_pq))^2))/(2*Np^2))(((S^3)*cosd(p_phi)*((sind(azimuth_pq))^2))/(6*Np^3))*(1+3*(tand(p_phi))^2);
i = 1;
dphi(i) = ((S*cosd(azimuth_pq)/Mp)-(((S^2)*tand(p_phi)*(sind(azimuth_pq))^2)/(2*Mp*Np))(((S^3)*cosd(azimuth_pq)*((sind(azimuth_pq))^2)*(1+3*tan(p_phi)^2))/(6*Mp*Np^2)))*(1(3*esq*sind(p_phi)*cosd(p_phi)*dphio)/(2*(1-esq*(sind(p_phi))^2)));
diff(i) = dphio - dphi(1);
while diff(i) > eps
dphi(i+1) = ((S*cosd(azimuth_pq)/Mp)-(((S^2)*tand(p_phi)*(sind(azimuth_pq))^2)/(2*Mp*Np))(((S^3)*cosd(azimuth_pq)*((sind(azimuth_pq))^2)*(1+3*tan(p_phi)^2))/(6*Mp*Np^2)))*(1(3*esq*sind(p_phi)*cosd(p_phi)*dphi(i))/(2*(1-esq*(sind(p_phi))^2)));
diff(i+1) = abs(dphi(i+1)-dphi(i));
i = i+1;
end
phi2 = p_phi + dphi(end);
dms_phi = deg2dms(phi2);
dlon = ((S/Nq)*sind(azimuth_pq)*secd(phi2))*(1-((S^2/(6*(Nq^2)))*(1(sind(azimuth_pq))^2)*((secd(phi2))^2)));
lam2 = p_lam + dlon;
dms_lam = deg2dms(lam2);
phi_m = (phi2 + p_phi)/2;
dazimuth = (dlon*sind(phi_m)*secd(dphi(end))/2)+((dlon^3)/12)*((sind(phi_m)*secd(dphi(end)/2))(sind(phi_m)^3)*(secd(dphi(end)/2)^3));
azimuth_qp = azimuth_pq + 180 + dazimuth;
dms_azimuth_qp = deg2dms(azimuth_qp);

SPQ1 = (dlon*Nq/secd(phi2))/sind(azimuth_pq)
SPQ2 = ((dlon*Nq/secd(phi2))+((SPQ1^3)*sind(azimuth_pq)/(6*Nq^2)))/sind(azimuth_pq)
SPQ3 = ((dlon*Nq/secd(phi2))+((SPQ2^3)*sind(azimuth_pq)/(6*Nq^2))((SPQ2^3)*((sind(azimuth_pq))^3)*((secd(phi2))^2)/(6*Nq^2)))/sind(azimuth_pq)

Reference:

[1] "Geodetic Datum and Ellipsoids: Flattening, Eccentricity, Equatorial Radius, Equitorial Radius,
Polar Radius." Constants for Reference Ellipsoids Used for Datum Transformations. Web.
11 Nov. 2015. <http://www.arsitech.com/mapping/geodetic_datum/#CLARKE 1866>.

[2] KRAKIWSKY, E., and D. THOMSON. "GEODETIC POSITION COMPUTATIONS."

University of New Brunswick, Fredericton. 14 Feb. 1974. Lecture.

[3] Pagiatakis, Spiros. "Point Positioning." Geodesy the Concepts. Print.

[4] Seemkooei, Alireza. "COMPARISON OF DIFFERENT ALGORITHMS TO TRANSFORM

GEOCENTRIC TO GEODETIC COORDINATES." ResearchGate. The University of
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<http://www.researchgate.net/publication/233681872_COMPARISON_OF_DIFFEREN
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